Macbook beeps randomly during normal operation

The issue is very similar to this one, which seems to be unsolved: Macbook Air 2012 single beep while on

Basically my late-2014 macbook pro beeps randomly (always once), it's a very low beep, seems internal, might even be a fan hitting something, yet I don't think that is the case, it's pretty much a random internally sounding beep with no other indicators

There are always speakers connected, the beep doesn't sound from the speakers, it comes from the machine itself

Is there a place to check hardware issue logs etc?